Development of a control system for artificially rehabilitated limbs: a review

Bhuiyan, M.S.H.; Choudhury, Imtiaz Ahmed; Dahari, Mahidzal

doi:10.1007/s00422-014-0635-1

Cited by 15 publications

(1 citation statement)

References 132 publications

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“…Mathematical modelling of an Arduino-based lower extremity exoskeleton involves describing the dynamics of the system, including the mechanical structure, actuators, sensors, and control algorithms [11]. The outline of the steps involved in creating such a model ; Kinematics Model; Dynamics Model; Actuator Model; Sensor Model; Control Algorithm; System Integration; Simulation and Analysis and Optimization and Validation [12]. The procedure for creating a schematic for an Arduino-based controller and its associated circuitry using Proteus simulation software includes-Start Proteus; Add Components;Wiring;Programming; Simulation and Troubleshooting [13].Creating an Arduino-based system to measure knee and hip angles in a lower limb exoskeleton involves several steps, including sensor selection, hardware setup, and coding [14].…”

Section: Introductionmentioning

confidence: 99%

Arduino Based Simulation and Mathematical Modelling for Lower Limb Exoskeleton

Sharma,

Vashist,

Devakumar

2024

Int J Health Sci Res

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Normal Human Locomotion is amongst the biggest challenge for ensuring the rehabilitation of Persons with Locomotor Disabilities (PwLDs). Suitably designed, developed automated featured orthotic intervention is the present need of rehabilitation. There are numerous types of automation systems for lower limb exoskeleton (LLE). Control systems of LLE technology has undergone significant advancements in the last decade, incorporating various interdisciplinary areas and improving several aspects of design and functionality. In the present study, the schematic and mathematical modelling for the LLE has been done. In order to capture the schematic of the Arduino based controller and associated circuitry the Proteus simulation software is used. All the stages of the gait cycles i.e. heel-strike, foot-flat, mid-stance, heel-off, toe off, acceleration, mid-swing and deceleration have been successfully performed by using Arduino based software. Key words: Orthotics, Lower Limb Exoskeleton, Controllers, Rehabilitation devices, Arduino, Locomotor disabilities

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Section: Introductionmentioning

confidence: 99%

Arduino Based Simulation and Mathematical Modelling for Lower Limb Exoskeleton

Sharma,

Vashist,

Devakumar

2024

Int J Health Sci Res

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A cardioid oscillator with asymmetric time ratio for establishing CPG models

Wang

et al. 2018

Biol Cybern

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Nonlinear oscillators are usually utilized by bionic scientists for establishing central pattern generator models for imitating rhythmic motions by bionic scientists. In the natural word, many rhythmic motions possess asymmetric time ratios, which means that the forward and the backward motions of an oscillating process sustain different times within one period. In order to model rhythmic motions with asymmetric time ratios, nonlinear oscillators with asymmetric forward and backward trajectories within one period should be studied. In this paper, based on the property of the invariant set, a method to design the closed curve in the phase plane of a dynamic system as its limit cycle is proposed. Utilizing the proposed method and considering that a cardioid curve is a kind of asymmetrical closed curves, a cardioid oscillator with asymmetric time ratios is proposed and realized. Through making the derivation of the closed curve in the phase plane of a dynamic system equal to zero, the closed curve is designed as its limit cycle. Utilizing the proposed limit cycle design method and according to the global invariant set theory, a cardioid oscillator applying a cardioid curve as its limit cycle is achieved. On these bases, the numerical simulations are conducted for analyzing the behaviors of the cardioid oscillator. The example utilizing the established cardioid oscillator to simulate rhythmic motions of the hip joint of a human body in the sagittal plane is presented. The results of the numerical simulations indicate that, whatever the initial condition is and without any outside input, the proposed cardioid oscillator possesses the following properties: (1) The proposed cardioid oscillator is able to generate a series of periodic and anti-interference self-exciting trajectories, (2) the generated trajectories possess an asymmetric time ratio, and (3) the time ratio can be regulated by adjusting the oscillator's parameters. Furthermore, the comparison between the simulated trajectories by the established cardioid oscillator and the measured angle trajectories of the hip angle of a human body show that the proposed cardioid oscillator is fit for imitating the rhythmic motions of the hip of a human body with asymmetric time ratios.

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